cv::rgbd::RgbdPlane Class Reference

#include <opencv2/rgbd/depth.hpp>

Inheritance diagram for cv::rgbd::RgbdPlane:

Public Types
enum	RGBD_PLANE_METHOD { RGBD_PLANE_METHOD_DEFAULT }

Public Member Functions
	RgbdPlane (int method, int block_size, int min_size, double threshold, double sensor_error_a=0, double sensor_error_b=0, double sensor_error_c=0)
	RgbdPlane (int method=RgbdPlane::RGBD_PLANE_METHOD_DEFAULT)
	~RgbdPlane ()
int	getBlockSize () const
int	getMethod () const
int	getMinSize () const
double	getSensorErrorA () const
double	getSensorErrorB () const
double	getSensorErrorC () const
double	getThreshold () const
void	operator() (InputArray points3d, InputArray normals, OutputArray mask, OutputArray plane_coefficients)
void	operator() (InputArray points3d, OutputArray mask, OutputArray plane_coefficients)
void	setBlockSize (int val)
void	setMethod (int val)
void	setMinSize (int val)
void	setSensorErrorA (double val)
void	setSensorErrorB (double val)
void	setSensorErrorC (double val)
void	setThreshold (double val)
Public Member Functions inherited from cv::Algorithm
	Algorithm ()
virtual	~Algorithm ()
virtual void	clear ()
	Clears the algorithm state.
virtual bool	empty () const
	Returns true if the Algorithm is empty (e.g. in the very beginning or after unsuccessful read.
virtual String	getDefaultName () const
virtual void	read (const FileNode &fn)
	Reads algorithm parameters from a file storage.
virtual void	save (const String &filename) const
void	write (const Ptr< FileStorage > &fs, const String &name=String()) const
virtual void	write (FileStorage &fs) const
	Stores algorithm parameters in a file storage.
void	write (FileStorage &fs, const String &name) const

Static Public Member Functions
static Ptr< RgbdPlane >	create (int method, int block_size, int min_size, double threshold, double sensor_error_a=0, double sensor_error_b=0, double sensor_error_c=0)
Static Public Member Functions inherited from cv::Algorithm
template<typename _Tp >
static Ptr< _Tp >	load (const String &filename, const String &objname=String())
	Loads algorithm from the file.
template<typename _Tp >
static Ptr< _Tp >	loadFromString (const String &strModel, const String &objname=String())
	Loads algorithm from a String.
template<typename _Tp >
static Ptr< _Tp >	read (const FileNode &fn)
	Reads algorithm from the file node.

Additional Inherited Members
Protected Member Functions inherited from cv::Algorithm
void	writeFormat (FileStorage &fs) const

Detailed Description

Object that can compute planes in an image

Member Enumeration Documentation

RGBD_PLANE_METHOD

enum cv::rgbd::RgbdPlane::RGBD_PLANE_METHOD

Enumerator
RGBD_PLANE_METHOD_DEFAULT

Constructor & Destructor Documentation

RgbdPlane() [1/2]

cv::rgbd::RgbdPlane::RgbdPlane ( int  method = RgbdPlane::RGBD_PLANE_METHOD_DEFAULT )

inline

RgbdPlane() [2/2]

cv::rgbd::RgbdPlane::RgbdPlane	(	int	method,
		int	block_size,
		int	min_size,
		double	threshold,
		double	sensor_error_a = 0,
		double	sensor_error_b = 0,
		double	sensor_error_c = 0
	)

Constructor

Parameters

block_size	The size of the blocks to look at for a stable MSE
min_size	The minimum size of a cluster to be considered a plane
threshold	The maximum distance of a point from a plane to belong to it (in meters)
sensor_error_a	coefficient of the sensor error. 0 by default, 0.0075 for a Kinect
sensor_error_b	coefficient of the sensor error. 0 by default
sensor_error_c	coefficient of the sensor error. 0 by default
method	The method to use to compute the planes.

~RgbdPlane()

cv::rgbd::RgbdPlane::~RgbdPlane

(

)

Member Function Documentation

create()

static Ptr< RgbdPlane > cv::rgbd::RgbdPlane::create ( int  method, int  block_size, int  min_size, double  threshold, double  sensor_error_a = 0, double  sensor_error_b = 0, double  sensor_error_c = 0  )

static

getBlockSize()

int cv::rgbd::RgbdPlane::getBlockSize ( ) const

inline

getMethod()

int cv::rgbd::RgbdPlane::getMethod ( ) const

inline

getMinSize()

int cv::rgbd::RgbdPlane::getMinSize ( ) const

inline

getSensorErrorA()

double cv::rgbd::RgbdPlane::getSensorErrorA ( ) const

inline

getSensorErrorB()

double cv::rgbd::RgbdPlane::getSensorErrorB ( ) const

inline

getSensorErrorC()

double cv::rgbd::RgbdPlane::getSensorErrorC ( ) const

inline

getThreshold()

double cv::rgbd::RgbdPlane::getThreshold ( ) const

inline

operator()() [1/2]

void cv::rgbd::RgbdPlane::operator()	(	InputArray	points3d,
		InputArray	normals,
		OutputArray	mask,
		OutputArray	plane_coefficients
	)

Find The planes in a depth image

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
normals	the normals for every point in the depth image
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0, norm(a,b,c)=1 and c < 0 (so that the normal points towards the camera)

operator()() [2/2]

void cv::rgbd::RgbdPlane::operator()	(	InputArray	points3d,
		OutputArray	mask,
		OutputArray	plane_coefficients
	)

Find The planes in a depth image but without doing a normal check, which is faster but less accurate

Parameters

points3d	the 3d points organized like the depth image: rows x cols with 3 channels
mask	An image where each pixel is labeled with the plane it belongs to and 255 if it does not belong to any plane
plane_coefficients	the coefficients of the corresponding planes (a,b,c,d) such that ax+by+cz+d=0

setBlockSize()

void cv::rgbd::RgbdPlane::setBlockSize ( int  val )

inline

setMethod()

void cv::rgbd::RgbdPlane::setMethod ( int  val )

inline

setMinSize()

void cv::rgbd::RgbdPlane::setMinSize ( int  val )

inline

setSensorErrorA()

void cv::rgbd::RgbdPlane::setSensorErrorA ( double  val )

inline

setSensorErrorB()

void cv::rgbd::RgbdPlane::setSensorErrorB ( double  val )

inline

setSensorErrorC()

void cv::rgbd::RgbdPlane::setSensorErrorC ( double  val )

inline

setThreshold()

void cv::rgbd::RgbdPlane::setThreshold ( double  val )

inline

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The documentation for this class was generated from the following file:

• opencv2/rgbd/depth.hpp